Local NMPC on Global Optimised Path for Autonomous Racing

Abstract: The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as areference, a local nonlinear model predictive controller (NMPC) is proposed, which takes into account multiple local objectives like making more progress along the race line, avoiding collision with opponent vehicles, and use of drafting to achieve more progress.